It's not that hard to do. It can read the hex code of a new sensor if the new sensor does not already come with a label with the sensor ID , but you need a capable scan tool to edit the old sensor ID to the new sensor ID to the module of the vehicle that handles the TPMS functions.I think you should be able to do it with a DS708.
https://www.rockauto.com/en/catalog/ford,2013,escape,2.0l+l4+turbocharged,1503982,wheel/tire,tire+pressure+monitoring+system+(tpms)+sensor,12036